Eclipse 3D Imaging Sonar - Product Manual...Software Tritech Eclipse Software Supply voltage 100-240VAC 50/60Hz Power consumption 170W at 240V AC Operating temperature 5 to 35 C Storage

Eclipse 3D Imaging Sonar

Document: 0690-SOM-00001, Issue: 01 1 © Tritech International Ltd.


Product Manual

Document: 0690-SOM-00001, Issue: 01



© Tritech International Ltd

The copyright in this document is the property of Tritech International Ltd. The document is supplied by Tritech International Ltd on theunderstanding that it may not be copied, used, or disclosed to others except as authorised in writing by Tritech International Ltd.

Tritech International Ltd reserves the right to change, modify and update designs and specifications as part of their ongoing product developmentprogramme.

All product names are trademarks of their respective companies.



Table of ContentsHelp & Support ........................................................................................................ 5Warning Symbols ..................................................................................................... 61. Specification ........................................................................................................ 72. Introduction .......................................................................................................... 93. Installation .......................................................................................................... 10

3.1. Cable Specification ................................................................................. 103.2. Bench Power Supply .............................................................................. 113.3. Connector Maintenance Guidelines ........................................................ 123.4. Positioning the Sonar .............................................................................. 123.5. Reference Point ....................................................................................... 133.6. Mounting the Sonar ................................................................................ 133.7. Surface Equipment .................................................................................. 143.8. Software .................................................................................................. 16

4. Operation ............................................................................................................ 174.1. Overview ................................................................................................. 174.2. Sonar Communications ........................................................................... 184.3. Keyboard Shortcuts ................................................................................ 194.4. 3D Volume Visualisation (Model View) ............................................... 19

4.4.1. Gain .............................................................................................. 204.4.2. Range ........................................................................................... 204.4.3. Palette ........................................................................................... 214.4.4. Scan Step ..................................................................................... 214.4.5. Use Depths ................................................................................... 224.4.6. Draw Points ................................................................................. 224.4.7. Show Grid .................................................................................... 234.4.8. Properties ..................................................................................... 234.4.9. Cursor ........................................................................................... 234.4.10. Measurements ............................................................................ 24

4.5. 2D Forward Looking .............................................................................. 244.5.1. Search Mode ................................................................................ 254.5.2. Palette ........................................................................................... 264.5.3. Invert Display (Up/Down) ........................................................... 264.5.4. Flip Image (Left/Right) ............................................................... 264.5.5. Draw Grid .................................................................................... 264.5.6. Zoom ............................................................................................ 264.5.7. Filter Selector .............................................................................. 274.5.8. Gain .............................................................................................. 274.5.9. Range ........................................................................................... 274.5.10. Cursor Display ........................................................................... 28

4.6. Toolbar Functions ................................................................................... 284.6.1. Recording (Logging) Sonar Data ................................................ 294.6.2. Replaying Sonar Data .................................................................. 294.6.3. Capture Screen ............................................................................. 304.6.4. Record as WMV .......................................................................... 30

4.7. Advanced Controls ................................................................................. 304.7.1. Sonar Controller ........................................................................... 30



4.7.2. Sonar ............................................................................................ 334.7.3. Vehicle ......................................................................................... 344.7.4. Speed of Sound ............................................................................ 354.7.5. Comm ........................................................................................... 35

4.8. Manually Restore Settings ...................................................................... 365. Care & Maintenance .......................................................................................... 38

5.1. Sonar Head ............................................................................................. 385.2. Eclipse SPU ............................................................................................ 38

6. Troubleshooting ................................................................................................. 40A. Eclipse Software String Decode ....................................................................... 42Glossary .................................................................................................................. 43



Help & SupportFirst please read this manual thoroughly (particularly the Troubleshooting section,if present). If a warranty is applicable, further details can be found in a WarrantyStatement at the end of the manual.

Tritech International Ltd can be contacted as follows:

Mail Tritech International LtdPeregrine RoadWesthill Business ParkWesthill, AberdeenshireAB32 6JL, UK

Telephone ++44(0)1224 744 111

Fax ++44(0)1224 741 771

Email [email protected]

Website www.tritech.co.uk

Prior to contacting Tritech International Ltd please ensure that the following isavailable:

1. The Serial Numbers of the product and any Tritech International Ltd equipmentconnected directly or indirectly to it.

2. Software or firmware revision numbers.

3. A clear fault description.

4. Details of any remedial action implemented.

Contamination

If the product has been used in a contaminated or hazardous environmentyou must de-contaminate the product and report any hazards prior toreturning the unit for repair. Under no circumstances should a product bereturned that is contaminated with radioactive material.

The name of the organisation which purchased the system is held on record atTritech International Ltd and details of new software or hardware packages will beannounced at regular intervals. This manual may not detail every aspect of operationand for the latest revision of the manual please refer to www.tritech.co.uk

Tritech International Ltd can only undertake to provide software support of systemsloaded with the software in accordance with the instructions given in this manual. Itis the customer's responsibility to ensure the compatibility of any other package theychoose to use.



Warning SymbolsThroughout this manual the following symbols may be used where applicable todenote any particular hazards or areas which should be given special attention:

Note

This symbol highlights anything which would be of particular interest tothe reader or provides extra information outside of the current topic.

Important

When this is shown there is potential to cause harm to the devicedue to static discharge. The components should not be handled withoutappropriate protection to prevent such a discharge occurring.

Caution

This highlights areas where extra care is needed to ensure that certaindelicate components are not damaged.

Warning

DANGER OF INJURY TO SELF OR OTHERS

Where this symbol is present there is a serious risk of injury or loss of life.Care should be taken to follow the instructions correctly and also conducta separate Risk Assessment prior to commencing work.



1. Specification

Dimensions

Not to scale, dimensions in mm.342

Acousticface

58 202 115

213

148

Acoustic Properties

Operating frequency 240kHzAngular resolution 1.5° acoustic, 0.5° effectiveBeamwidth 120°Number of beams 256Range 120m, 2D forward looking

60m, 2D search40m, 3D

Scan rate 100Hz at 5m, 7Hz at 100mRange resolution 2.5cm

Electrical and Communications

Power consumption 60WSupply voltage 20-28V DCCommunication protocols Ethernet (100BaseT)

Specification Eclipse 3D Imaging Sonar


Physical

Weight in air 19kgWeight in water 9kgDepth rating 1000mOperating temperature -10 to 35°CStorage temperature -20 to 50°C

Surface Processing Unit

Dimensions 480x450x180mm (WxDxH)Weight 14.5kgInput method USB keyboard & mouseOperating system Microsoft Windows™Software Tritech Eclipse SoftwareSupply voltage 100-240VAC 50/60HzPower consumption 170W at 240V ACOperating temperature 5 to 35°CStorage temperature -20 to 50°C



2. IntroductionEclipse is a 3D imaging sonar with 3D measurement capability. A single housingincorporates transmit and receive multi-beam arrays.

Eclipse uses electronic beam-shaping technology, providing a high performanceimaging system which can be used in 3D Volume Visualisation and 2DForward Looking modes.

By electronically steering the beam, a volume is illuminated ahead of the sonar. Thisis converted, in real time, into a full 3D image. 3D Volume Visualisationprovides a realistic graphical representation of scanned objects.

The sonar data can be motion-stabilised by taking in data from an external motionor tilt sensor.

The sonar data is displayed as a depth palletised 3D volume, where colour representsthe difference between the seabed depth and the vehicle Central Reference Point(CRP). Eclipse provides data stream logging and replay as well as having imageand volume data snapshot capability. Measurement tools provide range, bearing andrelative position to any acoustic target.

The Volume Visualisation has a mode which displays all the individual sonarcontacts as single points. In this mode it is possible to measure the 3D relationshipbetween two points within the volume.

In 2D mode the Eclipse sonar provides a high update rate which is used to providedisplay outputs that can be composed of a number of different sonar images, providingbetter display resolution and filter options such as persistence and movementdetection.

Software Version

This manual is applicable to Eclipse software version 2.16.



3. Installation

3.1. Cable Specification

The Eclipse system is supplied with two cables, both of which are terminated at oneend with a Teledyne Impulse MHDG 3#16 5#20 connector. The 5m cable has bareends for termination/splicing into the vehicle wiring. The 10m cable is terminatedwith a Souriau connector which mates to the bench PSU and can be used for testingthe Eclipse independent of the vehicle wiring and power supply.

Note

The network signal cables inside the supplied cable are Shielded TwistedPairs (STP). If splicing to a connector whip that is not provided withtwisted pairs, it is important to keep the untwisted length to a minimum(no more than 20cm). Long lengths might result in network losses orcommunication failure.

Pin Colour Function Diagram Photograph1 Blue (4mm²) DC Ground2 White (STP #1) TX +3 Red (STP #1) TX -4 Screen (STP #1) Screen5 Blue (STP #2) RX +6 Red (STP #2) RX -7 Brown (4mm²) DC +8 Screen (STP #2) Screen Teledyne Impulse MHDG 3#16 5#20

Minimum static bend radius: 90mmMinimum dynamic bend radius: 125mm

Note: STP = Shielded Twisted Pair

Caution

Never try to make the Eclipse work down a long cable by increasing thePSU output voltage above 28V DC.

Installation Eclipse 3D Imaging Sonar


3.2. Bench Power Supply

Warning

The Eclipse PSU that is supplied with the Eclipse system is intended forINDOOR USE ONLY and should not be placed in a position where itcould get wet.

During installation and testing of the Eclipse it is possible to use the included PSU toprovide both power and Ethernet connection to the Eclipse.

The Ethernet connector should be attached to the Eclipse SPU (using the PCI cardand not the motherboard connector) and the Souriau connector to the Eclipse cablewhip. The Eclipse bench PSU is wired as follows:

Pin Function DiagramA Ethernet RX +B Ethernet RX -C Ethernet TX +D not connectedE not connectedF Ethernet TX -G DC GroundH not connectedJ not connectedK not connectedL DC +M not connected Souriau UTS71412S



3.3. Connector Maintenance Guidelines

Mating surfaces should be lubricated with 3M Silicone Spray or equivalent, DO NOTGREASE. Connectors must be lubricated on a regular basis. Lubricate O-rings withDow Corning #111 Valve Lubricant or equivalent. O-rings can be seriously degradedif exposed to direct sunlight or high ozone levels for extended periods of time. Cleanplugs and receptacles with soap and fresh water.

Caution

When attaching a connector make sure that both connector and socket arecompletely dry. Any water trapped in the connection could result in anelectrical short.

Caution

If using alcohol or IPA to clean out the connector take care that it does notcome into contact with any other part of the sonar. If an O-ring is presentit should be first removed and discarded and the new O-ring only insertedafter the IPA has evaporated.

3.4. Positioning the Sonar

The black sonar face should be pointed in the required direction. Normally this wouldbe facing in the same direction as the vehicle. The sonar has a field width of 120°anda field height of 40°. Objects on the vehicle within this field of view will obstruct thesonar view and cause undesirable artifacts in the data.

It is recommended that the sonar is pitched down between 10° and 30° which willdirect the sonar energy at the seabed in front of the vehicle.

The head can be installed in one of two orientations:

Acousticface

0° 180°



3.5. Reference Point

The reference point for the Eclipse sonar head is taken as being level with the frontface, at a point along the short edge closest to the connectors as shown below. Theoffsets of the individual transducer arrays are contained within the software.

3.5cm

Acousticface

Reference Point

Acousticface

3.5cm

11.5cm

3.6. Mounting the Sonar

The Eclipse has 9, 20mm deep M6 fixing points:



The Eclipse is supplied with a number of insulating washers and fixings. These fixingsinsulate the sonar from its mounting and are required if the sonar is to be mountedto a non-aluminium frame.

Caution

Mounting the sonar to a non aluminium frame without the use of theisolation fixings will cause corrosion of the unit and reduce its lifeexpectancy.

3.7. Surface Equipment

The Eclipse is supplied with the following dry end components:

• 19" 4U rack mountable Eclipse SPU with case key and mains lead

• USB keyboard

• USB mouse

• RJ45 terminated Cat5 Ethernet cable



• DVI to VGA adapter

• User manual

• Eclipse Bench PSU

Note

The Eclipse system is not supplied with a monitor. A quality 24"widescreen monitor with a minimum resolution of 1280x1024 or aboveis recommended.

Caution

The Eclipse SPU should be positioned such that the front and rear ventsare not obstructed. Obstruction to the vents may result in the machineoverheating which could result in damage to the equipment.

Power

The Eclipse SPU is turned on using a button located behind the lockable front panel.If this does not work it may also be necessary to turn the switch on the rear to the1 position.

Rear Panel

0 1

Ensure all vents are free from obstructions.DE-9 (RS232 ports for ancillary sensors.VGA or DVI connector for monitor.Graphics card for CUDA processing (do not connect monitor to this card).Ethernet card for connection to Eclipse.Motherboard connectors. Connect keyboard/mouse to the USB ports here. If anEthernet (RJ45) port is present it can be used to connect to an IT infrastructurebut should not be used for the Eclipse (type, quantity and layout of theseconnectors may vary depending on the motherboard model).



3.8. SoftwareThe Eclipse SPU will be supplied with all the required software already installed.



4. Operation

4.1. Overview

Toolbar containing buttons to control common functions.Display area for the sonar images.Advanced options (toggled on/off with the button in upper right) for setup andconfiguration.

Note

When the mouse is hovered over a control, a tooltip will be displayedshowing a description of that control and pressing F1 on the keyboardwill open the online help at the relevant section.

A PDF copy of the manual is installed along with the Eclipse software and isaccessible from the Windows Start menu.

Operation Eclipse 3D Imaging Sonar


4.2. Sonar Communications

Ensure all connections are made andpower is provided to the sonar head.Next make sure the Eclipse softwareis in the default state by pressing theFactory Defaults button in theadvanced options area:

Enter the Sonar ID of the Eclipse sonarhead in the Vehicle tab in the advancedoptions area:

The Sonar ID of the first sonar thatthe software has found is displayed in theSonar Controller tab:

To automatically use the Sonar ID ofthe first sonar that the software has found,press the Auto button in the Vehicletab:

Once the Sonar ID is set, press the Online button in the toolbar to enable sonaroperation.



Note

Occasionally when the Eclipse software is first started the sonar head willnot communicate due to network issues. If restarting the software does notresolve the problem the physical connection should be checked.

4.3. Keyboard Shortcuts

A number of keyboard shortcuts are available for commonly used activities.

F7 Toggle Logging of data

Ctrl F Capture the screen to file

A Increase gain

Z Decrease gain

D Increase range

C Decrease range

4.4. 3D Volume Visualisation (Model View)

The Model View is a 3D display that can be rotated and tilted by holding down theleft mouse button and dragging the mouse around the display. Data is displayed ina 3D perspective model. This view automatically zooms and centres based upon thecurrent range.



4.4.1. Gain

0 to 100%

Gain is the amount of amplification applied to the sonar signal at the Eclipse sonarhead. Increasing the gain will show targets of lower strength but will also increasethe amount of noise and interference seen by the sonar.

4.4.2. Range

4 to 120m

This is the maximum slant range used by the sonar. The end range will determine themaximum update rate of the system. A longer range value will have slower updaterates due to the time taken for the sonar pulse to return from the furthest range. Shortranges will have faster update rates.

Note

The range can also be increased and decreased using the scroll wheel onthe mouse.



4.4.3. Palette

Palettes are used to convert numerical values for intensity and depth into arepresentative colour. A number of palettes are available and can be selected byclicking on the palette bar. Eclipse has a Depth Palette and IntensityPalette (see Use Depths).

When Use Depths is enabled, the text at the top and bottom of the palette is editableand represents the start and end depth for the palette. Any sonar return which isshallower than the start depth will be coloured in the start colour and any return deeperthan the end depth will be given the end colour.

If depth data is available from an external depth sensor, then the values enteredhere are absolute depths (see Section 4.7, “Advanced Controls”). If no depth data ispresent then anything above the centre of the Eclipse is considered to be negative andanything below it is positive so the Start should be set to a negative number andthe End set to a positive number.

4.4.4. Scan Step

Scanning a 3D volume takes a period of time which is mainly dictated by the endrange of the system and the number of scans contained in a volume. Increasing thescan step will reduce the amount of time needed to generate a 3D volume but willreduce the level of detail visible:

Course 4° step, fastest, least detailed.



Medium 2° step.

Fine 1°step, slowest, most detailed.

4.4.5. Use Depths

Depth Palette Intensity Palette

When Use Depths is enabled thethe Depth Palette is used to showdifferent depths in different colours. Thestart and end depth of the palette canbe entered (in metres or feet, dependingon the unit type selected). All depthsshallower than the top depth use the firstcolour of the palette and depths deeperthan the bottom depth will use the lastcolour of the palette. The bottom depth ofthe palette also sets the bottom depth ofthe 3D grid.

When Use Depths is not enabledthe Intensity Palette is used tocolour points for 0-100% of intensity.

The Intensity Palette is also usedfor the Forward Looking (2D) display.

4.4.6. Draw Points

Normally data is shown as a series of scan images with data being faded based uponthe intensity of the target. Targets with intensity below 5% are not displayed andthose above 5% are semi-transparent becoming more opaque as the targets becomebrighter.

With Draw Points enabled, data is instead drawn as a points cloud, which allowsaccurate measurements to be made between points. Only sonar contacts with anintensity above a set threshold are considered to be a point (the Threshold is setin the Advanced Options - see Section 4.7.2, “Sonar”).



Note

The system will slow down if a very large number of points are displayed,so do not set the threshold too low when working at long ranges or whenlots of targets or background noise is present in the sonar image.

4.4.7. Show Grid

Toggles the display of the 3D grid. The grid is drawn as far as the Range setting,and also uses the bottom depth value given in the depth palette.

4.4.8. Properties

This pop-up menu shows information about the current display view.

The Draw Ruler check box forces the ruler to be permanently displayed - normallythe ruler is only displayed while the left mouse button is being held down to take ameasurement.

4.4.9. Cursor



When the mouse cursor is in the display area, the cursor display will show the cursorposition relative to the Reference Point in metres or feet, depending on the unittype selected.

4.4.10. Measurements

To make a a measurement, right-click with the mouse anywhere in the display areaand select Measure from the pop-up menu.

Then hold down the left mouse button above the measurement start point and drag themouse to the measurement end point. The measurement will be displayed on the ruler.

To finish measuring and return the 3D scan to default operation, right-click with themouse anywhere in the display area and select Rotate & Tilt from the pop-up menu:

4.5. 2D Forward Looking

The Forward Looking display is a top down plan display that draws data acquiredas a 2D image.



Rather than building a 3D image, the 2D display provides an instant picture of theseabed in front of the vehicle. Only one image is used so the display updates veryquickly, even at longer ranges, which allows the ROV to be piloted using the screen.

4.5.1. Search Mode

Normally the Eclipse transmits a thin 1.5° by 120° beam which is useful for:

• Measurements between vertical targets are required.

• Only a small part of the total image is of interest.

• Long ranges are required (up to 120m depending on water conditions).

By enabling Search Mode, Eclipse will transmit a thicker beam (40° by 120°).This mode illuminates all of the area in front of the sonar and is used as a generalforward looking sonar (maximum range 60m).



4.5.2. Palette

There is no depth information on the 2D display so the data is displayed using theIntensity Palette. Clicking on the palette bar opens the palette selector.

4.5.3. Invert Display (Up/Down)

The Invert Display (Up/Down) button, when clicked, inverts the imagedisplayed by the software.

4.5.4. Flip Image (Left/Right)

If the sonar is mounted upside down, the software has the ability to flipthe image from left to right as viewed on the computer screen so that theimage still appears correctly oriented to the user. The illustration aboveshows the button in the non-flipped state.

4.5.5. Draw Grid

The Draw Grid button, when clicked, draws the range and bearing gridon the image displayed by the software. The illustration above shows thebutton in the on state.

4.5.6. Zoom

The Zoom button looks like a magnifying glass. When this button isclicked, a zoom window opens which shows the data around the mousepointer in more detail, as the following image shows.

The zoom window positions itself to either the left hand side or the right hand side ofthe screen so that it does not obscure the sonar image. The magnification level of thewindow is changed by using the mouse wheel, or by using the + and – buttons nextto the zoom button. The magnification level can be changed between 1.5x (minimummagnification)and 40x (maximum magnification).



Clicking within the sonar arc will lock the zoom at that point. Clicking outside of thearc will release the lock and the zoomed area will follow the mouse pointer.

4.5.7. Filter Selector

The image filters are used to take information from a number of consecutive sonarimages and compile them into one continuous output image. From left to right theyare:

No Filter No filtering is applied, each image received from the sonar replacesthe previous image.

Average Filter This output displays the average of a number of scans. This is usefulfor removing noise and transient data from the image. Static targetswill get strengthened and moving targets will get reduced.

PersistenceFilter

This output displays the maximum of a number of scans. Themaximum is decayed over time. The previous positions of movingtargets are persistent and will generate a slowly decaying image(i.e., "snail trails"). When in this mode, noise and other transientdata will also be persistent.

MovementFilter

This output enhances moving targets. Targets that are static arefaded out. Moving targets remain on the screen. This feature isuseful to highlight movement of targets that have a low strengthcompared to the background returns.

4.5.8. Gain

0 to 100%

Gain is the amount of amplification applied to the sonar signal at the Eclipse sonarhead. Increasing the gain will show targets of lower strength but will also increasethe amount of noise and interference seen by the sonar.

4.5.9. Range

4 to 120m

This is the maximum slant range used by the sonar. The end range will determine themaximum update rate of the system. A longer range value will have slower update



rates due to the time taken for the sonar pulse to return from the furthest range. Shortranges will have faster update rates.

4.5.10. Cursor Display

When the mouse cursor is in the display area the cursor display will show the cursorposition relative to the Reference Point in metres and degrees.

To make a measurement between twopoints in the image, hold down theleft mouse button at the measurementstart point, and drag the mouse to themeasurement end point. The range andbearing from the start point to the endpoint will be displayed along the line.

4.6. Toolbar Functions

The toolbar is at the top of the screen and gives quick access to eight commonfunctions.

Online Toggles the sonar operation.

Record Toggles the logging of the sonar data.

Play/Pause Toggles the replay of log files.

Stop Stops the replay of log files.

Repeat Repeats the replay of the log file when it reaches the end.

Load Loads a log file.

Capture Screen Captures the current workspace view as a JPEG file.

Record as WMV Toggles the recording of the display area as a WMV file.

Note

Alarm and information messages are displayed below the toolbar:



4.6.1. Recording (Logging) Sonar Data

Sonar data can be logged at any point by pressing the Record button on the toolbar.Data is saved as a compressed sonar image that can be replayed at a later date.

When logging is active, all sensor data being received by the software will be loggedin conjunction with the sonar data. The log files are saved in a directory as specifiedby clicking on the Log Directory on the main sonar screen (the default is C:\EclipseData or D:\EclipseData, depending on the configuration of theSPU disk):

The files will be saved to an automatically created subdirectory which is named basedon the current date and to a filename which is named based on the current time. Thelocation and name of the files are displayed in the titlebar:

4.6.2. Replaying Sonar Data

Sonar data can be replayed by clicking on the Load button on the toolbar andselecting the log file using the dialog. Once opened the log file will automaticallystart to play and the name of the file is displayed in the titlebar together with the framenumber. The software will automatically select the same view (Forward Lookingor Model View) that was used when the log file was created.

When a log file is being played, the Play/Pause button can be used to halt andrestart the replay of data from the current frame. The Stop button halts the replay



of data and resets the file to the first frame. The Repeat button replays the log filewhen it reaches the last frame.

4.6.3. Capture Screen

The Capture Screen button in the toolbar will snapshot the current workspaceview and save it as a JPEG. The first time this button is pressed it willcreate an images subdirectory to the selected log file directory (the defaultbeing C:\EclipseData\images) and then store the image. The filenames areautomatically numbered in ascending sequence and given the title "Eclipse" (i.e.Eclipse_0001.jpg, Eclipse_0002.jpg).

4.6.4. Record as WMV

The Record as WMV button in the toolbar will toggle recording of the currentworkspace view and save it as a WMV file. The first time this button is pressed itwill create an images subdirectory to the selected log file directory (the defaultbeing C:\EclipseData\images) and then store the movie. The filenames areautomatically numbered in ascending sequence and given the title "Eclipse" (i.e.Eclipse_0001.wmv, Eclipse_0002.wmv).

4.7. Advanced Controls

The Advanced Options area contains setup options which are not normallyrequired for day to day sonar operation.

Within the advanced options area, there are five separate tabs, each containing setupoptions for different parts of the Eclipse system. The tabs can be opened or closed byclicking on the white arrow on the left hand side of the tab.

4.7.1. Sonar Controller

The Sonar Controller manages communications with the Eclipse sonar head. It alsoallows all the system settings to be loaded or saved to a settings file.



System Status

The System Status is a three-colour indicator which shows the state of thehardware:

Green Communications with Eclipse sonar head is OK.

Orange Eclipse SPU ready but no communications with Eclipse sonar head.

Red Driver or interface card failure in the Eclipse SPU. Hover the mousepointer over the indicator for more detailed information about theproblem.

Half Speed Acquisition

Normally the Eclipse system tries to fire the sonar continuously with little or no delaybetween pings. This buttons slows the sonar ping rate to 50% of the maximum rate,reducing the amount of data that is sent by the Eclipse sonar head.

Note

If the column being visualised has been generated with very small stepsit may be necessary to reduce the sonar ping rate.

User Defaults

This loads all the system settings from the file UserDefaults.xml which isnormally in C:\EclipseData\Settings.

One advantage of having a custom default setup (rather than using the factory defaultsetup) is that it is possible to set up the default vehicle parameters corresponding toa specific installation.



Factory Defaults

This reverts all system settings to the default factory settings. Use this option ifexperiencing unusual behaviour from the Eclipse sonar to be certain that the softwareis set up properly.

Note

After resetting to factory defaults it will be necessary to set the SonarID again (see Section 4.2, “Sonar Communications”).

Load/Save Settings

Eclipse automatically saves all the system settings when the software is shut down.These settings are also automatically reloaded when the software starts. The Loadand Save buttons are to load and save the system settings to an XML file. This isuseful to keep if ever the software or operating system requires re-installation.

Note

To use the XML file as a User Default file it will have to be savedas C:\EclipseData\Settings\UserDefaults.xml.

Units

This allows the units of measurement to be selected. Available options are Metricand Imperial.

System Information

This displays the version information for the Eclipse (SPU). If there is ever arequirement to contact Tritech International Ltd Technical Support it may benecessary to provide this information.

Note

The CUDA Device indicator shows the status of the graphics processorwhich is being used for processing the 3D imagery. If the indicator is redor amber, hover the mouse pointer over it to get more detailed informationon the problem.

Sonar Information

This displays version information for the Eclipse sonar head. If there is evera requirement to contact Tritech International Ltd Technical Support it may benecessary to provide this information.

ID Sonar ID

Ver Sonar head firmware version.



Freq Frequency of operation of the transducer.

Stks Number of TX/RX stacks in the sonar head.

T1-T4 Temperatures at positions inside the sonar head.

4.7.2. Sonar

These options control the sonar when scanning a 3D volume in the Model View.

Sweep Options

These options control the scanning transmitter.

Min ° The minimum (top) angle that the sonar scans to in degrees. Normally-22°.

Max ° The maximum (bottom) angle that the sonar scans from in degrees.Normally 22°.

Step ° The step size between scans. Normally this is set using the ScanStep control on the Model View, however, if desired it can be sethere.

Points Threshold

With Draw Points enabled the Model View is drawn as a points cloud. Onlysonar contacts with an intensity above the Points Threshold are considered tobe a point (this threshold is also used for the Export function).

Note

The system will slow down if a very large number of points are displayed.Do not set the threshold too low, particularly when working at long rangesor when lots of targets or background noise is present in the sonar image.

Export all points above threshold intensity

All points in the volume above the specified threshold will be exported to an ASCIIcomma separated value (.csv) file that has the format:

dY, dY, dZ, Intensity



The dX, dY and dZ values are relative to the vehicle Central Reference Point (CRP).

4.7.3. Vehicle

Sonar ID

The easiest way to set the Sonar ID is to press the Auto button and the first sonaravailable on the network will then be automatically selected.

If desired, a number can be entered manually.

Sonar Pitch

Set the sonar pitch to match the pitch angle (in degrees) at which the Eclipse sonarhead is mounted on the vehicle. Use a negative number if the sonar is pointing downtowards the seabed.

Sonar Orientation

Set the orientation to match how the Eclipse sonar head is mounted on the vehicle.The options are connectors-up and connectors-down as indicated by the illustrations,click on the image which matches the correct orientation.

Changes in the orientation are reflected in the Model View with the Eclipse headchanging according to which button is pressed.

Equipment Position

It is useful to be able to configure the offset of various equipment in relation to theCentral Reference Point (CRP) of the vehicle, this is particularly important on largerROVs where there may be a significant distance between the different devices.

Text can be entered in each box to configure the position of the sonar, a MotionReference Unit (MRU) and the Z Sensor (depth sensor). Clicking in the Mkrcolumn turns the marker on/off on the Model View. Clicking the Mkr column titleturns the CRP marker on/off. When turned on each device will show as a red dot toindicate its position.



Note

Changing the equipment positions will cause any existing image data tobe cleared from the Model View. This ensures that new image data isimmediately visible using the new equipment positions.

4.7.4. Speed of Sound

The speed of sound can be manually entered using this text field.

If a speed of sound serial input device is configured in the Comm setup (see below) thetext field will be automatically updated with the measured speed of sound. Averagingis applied to the measured speed of sound values to smooth out sensor readings.

4.7.5. Comm

Eclipse provides for a motion sensor to be connected into the Eclipse SPU to applyheave, pitch and roll compensation to the sonar position in the water. Depth data canalso be supplied by an external altimeter device.

Up to four external sensors can be fitted to the system and are configured by selectingthe tabs Comm A through to Comm D. For each tab the configuration options arethe same.

Comm Port

The drop-down list allows the selection of the SPU serial port to configure. Once thishas been selected, click on the ellipsis to bring up the Windows COM Propertiesdialog for further configuration.

Note

Make sure that the settings in the COM Properties dialog match thoseof the sensor which is attached.



Decode

The first drop-down list selects the sensor type, choose from Motion, Depth orSOS (speed of sound).

Once the type of sensor has been selected choose from an appropriate input stringusing the second drop-down list.

Status

The data age status indicator will show the status of the port. A grey indicator meansno data is present, red is for an incorrect data string, yellow indicates an incompletedata string and green is for normal operation.

The output string from the sensor is also displayed.

4.8. Manually Restore Settings

Note

The following instructions should be considered as a last resort only whenthe Eclipse software fails to start due to a corrupted XML settings file. Inpreference the software should be run and the reset or load settings buttonsshould be used (Advanced settings, Sonar Controller):

Note

Depending on the system setup the Eclipse data files are either stored inthe C:\ drive or the D:\ drive - please examine the system at hand andadjust the instructions accordingly (i.e. change C:\EclipseData toD:\EclipseData where necessary).

The Eclipse software stores all the settings in the file C:\EclipseData\Settings\Eclipse.xml. A backup of this file can be kept as a record of allthe Eclipse settings. When contacting Tritech International Ltd Technical Support itmay be necessary to supply a copy of this file.

The Eclipse software keeps a historical log of settings files in the folder C:\EclipseData\Settings, with folder and file names automatically generatedfrom the date and time. This can be useful for the restoration of previously knowngood settings. To use a previous settings file:

1. Shut down the Eclipse software.



2. Delete (or rename) the C:\EclipseData\Settings\Eclipse.xml file.

3. Copy the historical settings (*.xml) file into the location C:\EclipseData\Settings and rename it to Eclipse.xml

4. Start the Eclipse software.

A factory settings file is stored in the install folder (normally C:\Program Files\Tritech\Eclipse\Factory.xml). To revert completely to the factorysettings file:

1. Shut down the Eclipse software.

2. Delete (or rename) the C:\EclipseData\Settings\Eclipse.xml file.

3. Copy the Factory.xml file into the location C:\EclipseData\Settingsand rename it to Eclipse.xml

4. Start the Eclipse software.



5. Care & Maintenance

5.1. Sonar Head

After using the sonar

Make sure that after using the sonar head that it is washed down with fresh waterand check the unit for any signs of obvious damage. Pay particular attention to thetransducer head and free any organic matter which has become trapped. Once the unitis clean; dry thoroughly and place in storage container.

If storing the sonar for extended periods

Make sure that the sonar is completely dry (if necessary leave to air-dry beforestowing). Pack into storage container along with several pouches of silica gel.

Regular maintenance

There are no user serviceable parts inside the sonar and it is not necessary to take itapart for any maintenance tasks. In light usage as long as the unit is washed thoroughlywith clean fresh water after every use and dried before storage no further maintenanceis required. If the unit is in regular use, or submerged routinely for extended periods, itis advisable to arrange for an annual service to be carried out by Tritech InternationalLtd This service will enable the unit to be checked thoroughly or for any worn partsto be replaced and will enable long-term trouble free operation of the sonar head.

5.2. Eclipse SPU

Software Maintenance

The operating system running on the SPU is Microsoft Windows and does not haveany anti-virus or protection software installed by default.

It is possible to restrict access to the USB drives using the lock on the front panel. TheEclipse SPU is designed to be a stand-alone machine, however, if it is to be installedon a network appropriate software should be used to protect against viruses knownto affect Windows computers.

Care & Maintenance Eclipse 3D Imaging Sonar


Note

A regular backup schedule for any important log files should be in placefor the SPU since re-initialisation may erase the hard drive contents.

To ensure that the system remains secure and error free it is recommended that noextra software other than is absolutely necessary (such as anti-virus software) isinstalled on the SPU.

Hardware Maintenance

The maintainable parts of the hardware are limited to the cooling fans in the chassis.

Care should be taken to keep the filters clean and the environment free from dustand moisture.

Failure of the chassis fans will result in elevated temperatures which will shorten thelife of the product, so any failures should be replaced immediately. If the CPU, GPUor PSU fans fail then the SPU will auto-shutdown and operation will not be possibleuntil the fan is replaced.

Chassis fans can be replaced with standard computer case fans. Replacement of theCPU, GPU or PSU fans will require replacement components. Please contact TritechInternational Ltd for details of the support options available.



6. Troubleshooting

The software reports that no sonars are detected

Check all cabling to the sonar and verify that it is powered correctly with appropriatevoltage at the sonar. Also check that the correct cable is in use - this needs to be acable of at least Cat5e standard.

If the Eclipse is connected and powered through a vehicle Ethernet infrastructure itmay be helpful to isolate it from the vehicle and connect directly to the Eclipse SPU.Use the 10m test cable and bench PSU to make a direct connection to the Eclipse.

Make sure that the Eclipse is connected to the correct network interface on the rearof the SPU (i.e. do not use the motherboard connector).

Note

Ethernet connection requires Cat5e cable for the entire cable run (max80m) and any lengths of untwisted cable must be kept to an absoluteminimum.

Sonar goes offline while operating on deck

The sonar head outputs heat to the body casing (using it as a heatsink) which isdissipated to the surrounding water during normal operation.

In order to protect the internal electronics from damage due to overheating a thermalcut-off will shut down the sonar if it gets too warm. It will be necessary to allow theunit to cool down before it will operate again.

The unit should not be operated out of water for extended periods.

Update rate is slow and there are sometimes large gapsbetween pings

There may be noise induced onto the Ethernet cables, be sure to route these as faraway as practicable from noise sources.

Troubleshooting Eclipse 3D Imaging Sonar


Sonar is present, but screen shows no sonar imagesMake sure that the Gain is not set to 0%.

Check the nVidia graphics drivers are up to date and support the latest CUDAfunctionality - if in doubt install the latest drivers from Nvidia. Drivers are availabledirectly from the nVidia website so it may be necessary to connect the Eclipse SPU tothe Internet. Make sure that the correct operating system is selected while browsingfor the drivers.

CUDA Device is not recognisedFirst try updating the graphics card drivers with the latest version available from thenVidia website.

If after updating the drivers the card is still not recognised, open the Eclipse SPU caseand make sure that both of the graphics cards are securely fitted into the PCI slots.

No Hardware Found, or program crashesOpen the Eclipse SPU and check that the TAQ card (PCI Timestamped Acquisitioncard - the PCI card which the Eclipse Ethernet cable connects to) is securely seatedin the PCI slot.

If this does not solve the problem search the entire C:\ drive for files namedtvichw*.* and delete them. Reboot the computer and then re-install the Eclipsesoftware.



Appendix A. Eclipse Software String DecodeThe Eclipse Software is capable of handling input from various different types ofsensors using the following standard strings:

Name Description Format/ExamplesDigi Parascientific Digiquartz

(depth sensor)000.0

OctansAll Heading, Heave, Pitch,Roll, Surge, Sway

$HEHDT... $PHTRH... $PHLIN...

OctansGHPR Heading, Heave, Pitch, Roll $HEHDT... $PHTRH...

OctansHPR Heave, Pitch, Roll $PHTRH...

OctansPR Pitch, Roll $PHTRO...

SonDepth Depth $SONDEP...

TSS Std 1 Heave, Pitch, Roll :000000 -0000H-0000 -0000

Octans Std 2 Heading, Heave, Pitch, Roll :00000 -0000H-0000 -0000F

Speed of Sound Speed of Sound 1500.0

Simard EM3000 Heading, Heave, Pitch, Roll n/aCDL Mini Tilt Pitch, Roll P+0000.0R+0000.0

HMRU Heave, Pitch, Roll $PHTRH... :000000 -0000H-0000 -0000

AML Smart SVP Speed of Sound 0 1500.0

Note

With the exception of Simrad EM3000 (which is in binary format)all of the above strings are in ASCII format and use <CR> as thesynchronisation character.



GlossaryASCII American Standard Code for Information Interchange - a

character encoding scheme originally based on the Englishalphabet.

CPU Central Processing Unit, the processor of a computer.

CRP Central Reference Point

CSV Comma Separated Value - a text file in tabular format with tablecells separated by commas, usually given the filename extension.csv but this can vary depending on the application.

CUDA Compute Unified Device Architecture - a parallel computingarchitecture developed by Nvidia for graphics processing.

DC Direct Current

DE-9 A 9 pin D shaped connector commonly used for serialcommunications on computers.

DVI Digital Visual Interface, a standard connector for connectingfrom a computer to a monitor.

Eclipse SPU A special version of the Tritech Surface Processing Unit (SPU)which has a high power graphics card capable of processing theEclipse 3D imagery and a special Ethernet card for connectionto the Eclipse.

Ethernet A family of computer networking technologies for local areanetworks (LANs).

GPU Graphics Processing Unit, the card within the computer which isresponsible for generating visual output.

IPA Isopropyl Alcohol (also known as 2-propanol, isopropanol,rubbing alcohol and iPrOH).

IT Information Technology

JPEG or JPG Joint Photographics Expert Group - a compression method andfile format for image files, files can be stored with either .jpegor .jpg file extensions

MHDG Miniature High Density - a connector range from TeledyneImpulse.

MRU Motion Reference Unit

Glossary Eclipse 3D Imaging Sonar


PCI Peripheral Component Interconnect - used to refer to boththe transfer bus and the socket for expansion cards within acomputer.

PDF Portable Document Format - a file format designed for thedistribution of documents among different operating systems anddevices.

PSU Power Supply Unit

RJ45 Registered Jack wiring scheme commonly used to refer tothe 8 position 8 contact (8P8C) connector wired for Ethernetcommunications.

ROV Remotely Operated Vehicle

RS232 Traditional name for a series of standards for serial binary datacontrol signals.

RX Receive (data)

SCU Surface Control Unit - a specially manufactured computer whichis rack mountable and capable of processing the data fromthe sonar equipment running either Windows XP Embedded orWindows 7 and Seanet Pro or Gemini software.

SOS Speed of Sound

SPU Surface Processing Unit - a more powerful specialised computerthan the Tritech Surface Control Unit (SCU) capable of drivingmultiple sonar heads.

STP Shielded Twisted Pair (cable) - a standard for communicationscable with no cable screen and foil pair shielding (known asUnshielded Foil Twisted Pair (U/FTP) under ISO/IEC 11801).

TAQ PCI Timestamped Acquisition card - the PCI card in the EclipseSPU which the Eclipse Ethernet cable connects to.

TX Transmit (data)

USB Universal Serial Bus.

VGA Video Graphics Adapter

WMV Windows Media Video - a compression format for severalproprietary codecs developed by Microsoft for storing videofiles.

XML Extensible Markup Language. A markup language and fileformat that is designed to be both human and machine readable.

Documents

Eclipse 3D Imaging Sonar - Product Manual...Software Tritech Eclipse Software Supply voltage 100-240VAC 50/60Hz Power consumption 170W at 240V AC Operating temperature 5 to 35 C Storage